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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">This is part of OpenLoong Dynamics Control, an open project for the control of biped robot,</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">Copyright (C) 2024 Humanoid Robot (Shanghai) Co., Ltd, under Apache 2.0.</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">Feel free to use in any purpose, and cite OpenLoong-Dynamics-Control in any style, to contribute to the advancement of the community.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> &lt;https://atomgit.com/openloong/openloong-dyn-control.git&gt;</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> &lt;web@openloong.org.cn&gt;</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">*/</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160; </div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#pragma once</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;fstream&gt;</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &quot;json/json.h&quot;</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &lt;string&gt;</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &quot;LPF_fst.h&quot;</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#include &lt;cmath&gt;</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#include &quot;data_bus.h&quot;</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160; </div>
<div class="line"><a name="l00018"></a><span class="lineno"><a class="line" href="classPVT__Ctr.html">   18</a></span>&#160;<span class="keyword">class </span><a class="code" href="classPVT__Ctr.html">PVT_Ctr</a> {</div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="keyword">public</span>:</div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;    <span class="keywordtype">int</span> jointNum;</div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;    std::vector&lt;double&gt; motor_pos_cur;</div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;    std::vector&lt;double&gt; motor_pos_des_old;</div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;    std::vector&lt;double&gt; motor_vel;</div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;    std::vector&lt;double&gt; motor_tor_out; <span class="comment">// final tau output</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;    <a class="code" href="classPVT__Ctr.html">PVT_Ctr</a>(<span class="keywordtype">double</span> timeStepIn, <span class="keyword">const</span> <span class="keywordtype">char</span> * jsonPath);</div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;    <span class="keywordtype">void</span> calMotorsPVT();</div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;    <span class="keywordtype">void</span> calMotorsPVT(<span class="keywordtype">double</span> deltaP_Lim);</div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;    <span class="keywordtype">void</span> enablePV(); <span class="comment">// enable PV control item</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;    <span class="keywordtype">void</span> disablePV(); <span class="comment">// disable PV control item</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;    <span class="keywordtype">void</span> enablePV(<span class="keywordtype">int</span> jtId); <span class="comment">// enable PV control item</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;    <span class="keywordtype">void</span> disablePV(<span class="keywordtype">int</span> jtId); <span class="comment">// disable PV control item</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;    <span class="keywordtype">void</span> setJointPD(<span class="keywordtype">double</span> kp, <span class="keywordtype">double</span> kd, <span class="keyword">const</span> <span class="keywordtype">char</span> * jointName);</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;    <span class="keywordtype">void</span> dataBusRead(<a class="code" href="structDataBus.html">DataBus</a> &amp;busIn);</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    <span class="keywordtype">void</span> dataBusWrite(<a class="code" href="structDataBus.html">DataBus</a> &amp;busIn);</div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160; </div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    std::vector&lt;double&gt; motor_pos_des; <span class="comment">// P des</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    std::vector&lt;double&gt; motor_vel_des; <span class="comment">// V des</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    std::vector&lt;double&gt; motor_tor_des; <span class="comment">// T des</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;    std::vector&lt;double&gt; pvt_Kp;</div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    std::vector&lt;double&gt; pvt_Kd;</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    std::vector&lt;double&gt; maxTor;</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    std::vector&lt;double&gt; maxVel;</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    std::vector&lt;double&gt; maxPos;</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    std::vector&lt;double&gt; minPos;</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="keyword">private</span>:</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    std::vector&lt;LPF_Fst&gt; tau_out_lpf;</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    std::vector&lt;int&gt; PV_enable;</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    <span class="keywordtype">double</span> sign(<span class="keywordtype">double</span> in);</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    <span class="keyword">const</span> std::vector&lt;std::string&gt; motorName={<span class="stringliteral">&quot;J_arm_l_01&quot;</span>,<span class="stringliteral">&quot;J_arm_l_02&quot;</span>,<span class="stringliteral">&quot;J_arm_l_03&quot;</span>, <span class="stringliteral">&quot;J_arm_l_04&quot;</span>, <span class="stringliteral">&quot;J_arm_l_05&quot;</span>,</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;                                              <span class="stringliteral">&quot;J_arm_l_06&quot;</span>,<span class="stringliteral">&quot;J_arm_l_07&quot;</span>,<span class="stringliteral">&quot;J_arm_r_01&quot;</span>, <span class="stringliteral">&quot;J_arm_r_02&quot;</span>, <span class="stringliteral">&quot;J_arm_r_03&quot;</span>,</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;                                              <span class="stringliteral">&quot;J_arm_r_04&quot;</span>,<span class="stringliteral">&quot;J_arm_r_05&quot;</span>,<span class="stringliteral">&quot;J_arm_r_06&quot;</span>, <span class="stringliteral">&quot;J_arm_r_07&quot;</span>,</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;                                              <span class="stringliteral">&quot;J_head_yaw&quot;</span>,<span class="stringliteral">&quot;J_head_pitch&quot;</span>,<span class="stringliteral">&quot;J_waist_pitch&quot;</span>,<span class="stringliteral">&quot;J_waist_roll&quot;</span>, <span class="stringliteral">&quot;J_waist_yaw&quot;</span>,</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;                                              <span class="stringliteral">&quot;J_hip_l_roll&quot;</span>, <span class="stringliteral">&quot;J_hip_l_yaw&quot;</span>, <span class="stringliteral">&quot;J_hip_l_pitch&quot;</span>, <span class="stringliteral">&quot;J_knee_l_pitch&quot;</span>,</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;                                              <span class="stringliteral">&quot;J_ankle_l_pitch&quot;</span>, <span class="stringliteral">&quot;J_ankle_l_roll&quot;</span>, <span class="stringliteral">&quot;J_hip_r_roll&quot;</span>, <span class="stringliteral">&quot;J_hip_r_yaw&quot;</span>,</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;                                              <span class="stringliteral">&quot;J_hip_r_pitch&quot;</span>, <span class="stringliteral">&quot;J_knee_r_pitch&quot;</span>, <span class="stringliteral">&quot;J_ankle_r_pitch&quot;</span>, <span class="stringliteral">&quot;J_ankle_r_roll&quot;</span>}; <span class="comment">// joint name in urdf and jason config files</span></div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;};</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160; </div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160; </div>
<div class="ttc" id="aclassPVT__Ctr_html"><div class="ttname"><a href="classPVT__Ctr.html">PVT_Ctr</a></div><div class="ttdef"><b>Definition:</b> <a href="PVT__ctrl_8h_source.html#l00018">PVT_ctrl.h:18</a></div></div>
<div class="ttc" id="astructDataBus_html"><div class="ttname"><a href="structDataBus.html">DataBus</a></div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00015">data_bus.h:15</a></div></div>
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